摘要
航行操纵系统是水下航行器控制系统的重要组成部分;为了保证航行操纵系统的实时性与可靠性,鉴于其硬件板卡驱动支持Windows平台,故软件采用了一种基于Windows XPE实时嵌入式系统的设计方法,根据操纵要求对航行操纵系统实时多任务进行了划分,诸如手柄信息处理任务、自动控制任务和网络通信任务等,介绍了多任务执行实体一线程(thread)的优先级的设置和线程同步工具的选取,并分析了Windows的多线程调度策略,然后详细阐述了航行操纵系统各任务的执行流程以及实现方法;最后,对航行操纵系统进行了实验室仿真测试,结果表明该系统实时性和控制精度达到了设计要求,操纵系统性能良好。
The navigation steering system is a vital component of control system for underwater vehicle. To ensure the instantaneity and reliability of navigation steering system for underwater vehicle, seeing that some hardware--driver of navigation steering system for underwa- ter vehicle under Windows platform, a software design approach based on Windows XPE is adopted, a detailed classification of multi--tasking system is elaborated emphatically according to the control requirements, such as disposing joystick information task, automatic control task and network communication task etc. , the setting of threads~ priority and the choice of threads~ synchronization tool are introduced, an anal- ysis of Windows＇ schedule strategy has executed, then the exposition on programming flow and implement methods is carried out. Finally, the simulatlon--test results in Lab show that the instantaneity and control accuracy of this system can meet the design requirements, and con- trol system performance is good.
出处
《计算机测量与控制》
2015年第5期1806-1809,共4页
Computer Measurement &Control
基金
国家自然基金项目(61473224)
船舶预研基金项目(14JZ5.1.6)
